Microcontrollers´ fuzzy logic and 16-bit MCUs: a matter of intuition

Most control applications involve the specification of a relationship between sensor signals and actuator outputs. Fuzzy logic provides an intuitive way to accomplish that. It allows the user to use linguistic rules to specify, a nonlinear mapping between sensor signals and actuator outputs, thus providing a framework for programming an embedded system. Using a multi-joint robot system as a testbed, we implemented fuzzy logic on an 8051 compatible 16-bit microcontroller. The robot controlled by the MCU running the fuzzy logic algorithm is able to carry out a goal-directed motion sequence behavior. An 8-bit controller is also used to directly interface with the robot and communicate with the 16-bit MCU through 12 C. In addition to carrying out AD/PWM conversions, the 8-bit also implements multiple loops of linear feedback for servo positioning and compliance control. This application note will demonstrate the implementation of fuzzy logic in an embedded control solution using a 16-bit microcontroller